Hyundai CAN: Log active ABS to accFaulted

commaai · Jun 13, 2024 · 9f38196 · 9f38196
1 parent 6552d4e
commit 9f38196
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
@@ -119,7 +119,7 @@ def update(self, cp, cp_cam):
     ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2  # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
     ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
     ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
-    ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
+    ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 or cp.vl["TCS11"]["ABS_ACT"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
 
     if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
       if self.CP.flags & HyundaiFlags.HYBRID: